This wiki hosts instructions to build and customize an Upkie wheeled biped. The complete process looks like this:

Here are step-by-step instructions:

• 1) Getting started
• 2) 3D printing
• 3) Raspberry Pi setup
• 4) Electronics testing
• 5) Motion control software
• 6) Assembly

In the process you will likely end up checking the following assembly-related pages:

• Bill of materials
• Cables

Additionally, there are a number of Mods to customize your Upkie:

• Additional Wi-Fi adapter
• RTC clock
• Wi-Fi access point